def onRun( self ):
# Setup subscribers.
sensorsTactileButtonTopic = rospy.get_param( 'sensorsTopic', '/nao_sensors_tactile_button' );
sensorsTactileButtonSubscriber = rospy.Subscriber( sensorsTactileButtonTopic, nao_sensors.msg.TactileButton, self.onTactileButtonPressed );
speechMessage = 'Hi, I am Naomi. Touch my head to start the experiment.';
lastSpeechTime = rospy.Time.now() - self.SPEECH_INTERVAL; # So that Naomi will immediatly start talking, instead of X seconds later.
# Sit down.
Utils.getInstance().enableBodyStiffness();
Utils.getInstance().setBodyPose( 'sit' );
Utils.getInstance().disableBodyStiffness();
while( self.isRunning() ):
while( self.isPaused() ):
rospy.sleep( self.SLEEP_TIME );
# Say the message.
if( ( lastSpeechTime + self.SPEECH_INTERVAL ) < rospy.Time.now() ):
Utils.getInstance().say( speechMessage );
rospy.loginfo( 'Said: {speechMessage}'.format( speechMessage = speechMessage ) );
lastSpeechTime = rospy.Time.now();
# Check if the head has been touched.
if( self.__headHasBeenTouched ):
break;
rospy.sleep( self.SLEEP_TIME );
# Clean up.
sensorsTactileButtonSubscriber.unregister();
self.finished.emit();
def onRun( self ):
Utils.enableBodyStiffness();
Utils.getInstance().setBodyPose( 'headInitial' );
Utils.disableBodyStiffness();
# Sleep if paused.
while( self.isPaused() ):
rospy.sleep( self.SLEEP_TIME );
# Say the message.
Utils.getInstance().say( 'Introduction.' );
rospy.sleep( 3 * self.SLEEP_TIME );
self.finished.emit();
def onRun( self ):
Utils.getInstance().enableBodyStiffness();
Utils.getInstance().setBodyPose( 'headInitial' );
Utils.getInstance().say( 'Thank you for the experiment.' );
Utils.getInstance().disableBodyStiffness();
self.finished.emit();
def onRun( self ):
# Pick NUMBER_OF_PIECES pieces.
collectablePieces = random.sample( self.getModel().getPieces(), self.NUMBER_OF_COLLECTABLE_PIECES );
currentCollectablePiece = None;
lastActionTime = None;
Utils.getInstance().enableBodyStiffness();
while( self.isRunning() ):
while( self.isPaused() ):
rospy.sleep( self.SLEEP_TIME );
# Check if we are done.
if( len( collectablePieces ) == 0 and
currentCollectablePiece is None ):
break;
# Select a new piece, if there is none.
if( currentCollectablePiece is None ):
currentCollectablePiece = collectablePieces.pop();
#rospy.loginfo( 'Piece X has to be collected.' );
# Handle the piece.
if( lastActionTime is None ):
currentCollectablePiece.changeStatus( Piece.NONE, Piece.HANDLING );
# Look down at the pieces.
#Utils.getInstance().enableBodyStiffness();
Utils.getInstance().setBodyPose( 'headDown' );
#Utils.getInstance().disableBodyStiffness();
# Tell the user to pick up the piece and point towards it.
rospy.loginfo( 'Telling the user to pick up piece X.' );
# Determine to where to point.
# This is really fugly, but for now sufficient.
laneWidth = self.getModel().getImage().width() / 5;
x = currentCollectablePiece.x();
bodyPose = None;
if( x < laneWidth ):
bodyPose = 'laneOne';
elif( x < 2 * laneWidth ):
bodyPose = 'laneTwo';
elif( x < 3 * laneWidth ):
bodyPose = 'laneThree';
elif( x < 4 * laneWidth ):
bodyPose = 'laneFour';
else:
bodyPose = 'laneFive';
# Point.
Utils.getInstance().setBodyPose( bodyPose );
Utils.getInstance().say( 'Pick up the piece.' );
rospy.sleep( 3 * self.SLEEP_TIME );
# Move back to the original position.
Utils.getInstance().setBodyPose( 'sitWithHeadDown' );
rospy.sleep( 3 * self.SLEEP_TIME );
lastActionTime = rospy.Time.now();
elif( ( lastActionTime + self.ACTION_INTERVAL ) < rospy.Time.now() ):
rospy.loginfo( 'The user failed to grab the object with N seconds.' );
Utils.getInstance().say( 'You did not pick the correct piece.' );
rospy.sleep( 5 * self.SLEEP_TIME );
else:
# Check if the user has take the object.
if( not( currentCollectablePiece.getStatus() & Piece.DETECTED ) ):
rospy.loginfo( 'Piece X has been collected.' );
Utils.getInstance().say( 'Well done.' );
currentCollectablePiece.changeStatus( Piece.HANDLING, Piece.HANDLED );
currentCollectablePiece = None;
lastActionTime = None;
rospy.sleep( 2 * self.SLEEP_TIME );
Utils.getInstance().disableBodyStiffness();
self.finished.emit();
def onRun( self ):
Utils.getInstance().enableBodyStiffness();
Utils.getInstance().setBodyPose( 'headInitial' );
Utils.getInstance().say( 'Make something you think I would like out of the pieces you just picked.' );
rospy.sleep( 2 * self.SLEEP_TIME );
Utils.getInstance().setBodyPose( 'headDown' );
rospy.sleep( 8 * self.SLEEP_TIME );
Utils.getInstance().say( 'Lets see what you have made.' );
rospy.sleep( 4 * self.SLEEP_TIME );
Utils.getInstance().setBodyPose( 'headInitial' );
Utils.getInstance().say( 'It looks interesting, but I think you can do better.' );
Utils.getInstance().disableBodyStiffness();
self.finished.emit();